// --------------------------------------------------------------------------------------------------------------------
// <copyright file="RobotLandmarkCameraCalibrationInfoLoaderTest.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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namespace Test.Robotics.Vision
{
    using Microsoft.Robotics.IO;
    using Microsoft.Robotics.Navigation.Runtime.GroundTruthExtraction;
    using Microsoft.Robotics.Numerics;
    using Microsoft.VisualStudio.TestTools.UnitTesting;
    
    /// <summary>
    /// Robot calibration info data loader related tests.
    /// </summary>
    [TestClass]
    public class RobotLandmarkCameraCalibrationInfoLoaderTest
    {
        /// <summary>
        /// Tests Robot Landmark Camera Calibration info loader export/import.
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        public void RobotLandmarkCameraCalibrationInfoSaveAndLoadTest()
        {
            string testFileName = "RobotLandmarkCameraCalibrationInfo.xml";
            var referenceRobotCalibrationInfo = new RobotLandmarkCameraCalibrationInfo(
                3.1393 * MathConstants.Degrees2Radians,
                0.13706 * MathConstants.Degrees2Radians,
                0.046,
                -0.035,
                MathConstants.PIOverTwo);
            DataLoader<RobotLandmarkCameraCalibrationInfo>.ExportData(testFileName, referenceRobotCalibrationInfo);
            RobotLandmarkCameraCalibrationInfo readRobotCalibrationInfo = DataLoader<RobotLandmarkCameraCalibrationInfo>.ImportData(testFileName);

            Assert.IsNotNull(readRobotCalibrationInfo);

            Assert.AreEqual(referenceRobotCalibrationInfo.AzimuthAngle, readRobotCalibrationInfo.AzimuthAngle);
            Assert.AreEqual(referenceRobotCalibrationInfo.TiltAngle, readRobotCalibrationInfo.TiltAngle);
            Assert.AreEqual(referenceRobotCalibrationInfo.RobotToCameraOffsetX, readRobotCalibrationInfo.RobotToCameraOffsetX);
            Assert.AreEqual(referenceRobotCalibrationInfo.RobotToCameraOffsetY, readRobotCalibrationInfo.RobotToCameraOffsetY);
            Assert.AreEqual(referenceRobotCalibrationInfo.RobotToCameraOffsetHeading, readRobotCalibrationInfo.RobotToCameraOffsetHeading);
        }
    }
}
